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Towards arctic AUV navigation

Towards arctic AUV navigation
Towards arctic AUV navigation

The navigational drift for Autonomous Underwater Vehicles (AUVs) operating in open ocean can be bounded by regular surfacing. However, this is not an option when operating under ice. To operate effectively under ice requires an on-board navigation solution that does not rely on external infrastructure. Moreover, some under-ice missions require long-endurance capabilities, extending the operating time of the AUVs from hours to days, or even weeks and months. This paper proposes a particle filter based terrain-aided navigation algorithm specifically designed to be implementable in real-time on the low-powered Autosub Long Range 1500 (ALR1500) vehicle to perform long-range missions, namely crossing the Artcic Ocean. The filter performance is analysed using numerical simulations with respect to various key factors, e.g. of the sea-floor morphology, bathymetric update rate, map noise, etc. Despite very noisy on-board measurements, the simulation results demonstrate that the filter is able to keep the estimation error within the mission requirements, whereas estimates using dead-reckoning techniques experience unbounded error growth. We conclude that terrain-aided navigation has the potential to prolong underwater missions to a range of thousands of kilometres, provided the vehicle crosses areas with sufficient terrain variability and the model includes adequate representation of environmental conditions and motion disturbances.

Arctic AUV navigation, long-range terrain-aided navigation, particle filter
2405-8963
287-292
Salavasidis, Georgios
d412a9ad-2659-4e19-9547-fcf0262b0066
Munafò, Andrea
cac7d755-d119-49a3-b99f-ca62778ee9bf
Harris, Catherine A.
34cf0f4b-4e11-4ed2-a3ad-5596dd765572
McPhail, Stephen D.
58ac4bcd-26a6-4845-8e81-6d6a8f18aed7
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Phillips, Alexander B.
f565b1da-6881-4e2a-8729-c082b869028f
Salavasidis, Georgios
d412a9ad-2659-4e19-9547-fcf0262b0066
Munafò, Andrea
cac7d755-d119-49a3-b99f-ca62778ee9bf
Harris, Catherine A.
34cf0f4b-4e11-4ed2-a3ad-5596dd765572
McPhail, Stephen D.
58ac4bcd-26a6-4845-8e81-6d6a8f18aed7
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Phillips, Alexander B.
f565b1da-6881-4e2a-8729-c082b869028f

Salavasidis, Georgios, Munafò, Andrea, Harris, Catherine A., McPhail, Stephen D., Rogers, Eric and Phillips, Alexander B. (2018) Towards arctic AUV navigation. IFAC-PapersOnLine, 51 (29), 287-292. (doi:10.1016/j.ifacol.2018.09.517).

Record type: Article

Abstract

The navigational drift for Autonomous Underwater Vehicles (AUVs) operating in open ocean can be bounded by regular surfacing. However, this is not an option when operating under ice. To operate effectively under ice requires an on-board navigation solution that does not rely on external infrastructure. Moreover, some under-ice missions require long-endurance capabilities, extending the operating time of the AUVs from hours to days, or even weeks and months. This paper proposes a particle filter based terrain-aided navigation algorithm specifically designed to be implementable in real-time on the low-powered Autosub Long Range 1500 (ALR1500) vehicle to perform long-range missions, namely crossing the Artcic Ocean. The filter performance is analysed using numerical simulations with respect to various key factors, e.g. of the sea-floor morphology, bathymetric update rate, map noise, etc. Despite very noisy on-board measurements, the simulation results demonstrate that the filter is able to keep the estimation error within the mission requirements, whereas estimates using dead-reckoning techniques experience unbounded error growth. We conclude that terrain-aided navigation has the potential to prolong underwater missions to a range of thousands of kilometres, provided the vehicle crosses areas with sufficient terrain variability and the model includes adequate representation of environmental conditions and motion disturbances.

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Towards_Arctic_AUV_Navigation - Accepted Manuscript
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More information

e-pub ahead of print date: 11 October 2018
Keywords: Arctic AUV navigation, long-range terrain-aided navigation, particle filter

Identifiers

Local EPrints ID: 425983
URI: http://eprints.soton.ac.uk/id/eprint/425983
ISSN: 2405-8963
PURE UUID: ba9d7832-89cc-4832-bf80-2586496c9789
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398
ORCID for Alexander B. Phillips: ORCID iD orcid.org/0000-0003-3234-8506

Catalogue record

Date deposited: 08 Nov 2018 17:30
Last modified: 27 Jan 2020 13:40

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